The US chose to cease refuelling Saudi war planes last month, and Thursday’s resolution – if it were passed into law – would prohibit that practice from resuming.

The measure is seen as politically embarrassing to Mr Trump because he has refused to condemn Crown Prince Mohammed bin Salman despite the CIA’s assessment that he probably personally ordered the killing of Khashoggi, a US resident.

Image captionPresident Trump has consistently defended US business and military ties with Saudi Arabia

Independent Vermont Senator Bernie Sanders, who supported the measure, described it as “a historic moment”.

“Today we tell the despotic government of Saudi Arabia that we will not be part of their military adventures,” he said.

He said the vote is a signal to “the world that the United States of America will not continue to be part of the worst humanitarian disaster on the face of the earth”.

Since hostilities began in 2015, thousands of civilians have been killed, and millions have been pushed to the brink of starvation, according to the United Nations.

The Trump administration had opposed the bill, arguing that US support for the Saudi-led coalition is vital to isolating Iran, which backs the Houthi rebels who are fighting against Saudi Arabia in Yemen.

The bill calls upon President Trump to remove all US forces engaging in hostilities in Yemen, except for those combating Islamist extremists.